一种AGV路径规划的融合改进A*算法OA

In response to the problems of inefficient search,redundant nodes and unsmooth paths,and the inability to guarantee optimal search paths of the traditional A* algorithm,an improved A* algorithm combined with dynamic window approach(DWA)for the real-time path planning algorithm has been proposed.Firstly,by adjusting the heuristic function of traditional A* algorithm,the search field is expanded safely,and the safety and efficiency of path planning is improved.Secondly,the redundant nodes on the extended domain path are eliminated by vertical distance restriction method,and the path is optimized by B curve,which fully guarantees the smoothness of automated guided vehicle(AGV)path.Finally,the key point of the improved A* algorithm to remove redundant nodes is taken as the target point of DWA algorithm.The fusion algorithm can plan a smooth path based on global optimal for AGV operation.The improved A* algorithm and fusion algorithm are validated through Matlab simulation experiments to be effective in achieving dynamic obstacle avoidance and path optimisation functions.The improved fusion algorithm reduced the path planning time and path length by 5.96%and 8.93%respectively compared with the literature algorithm,and the dynamic obstacle avoidance capability is verified in a dynamic environment.